US12014628B2 - Mobile object monitoring system and mobile object monitoring method - Google Patents

Abstract

A mobile object monitoring system that includes one or more terminal units and a monitoring unit that monitors an unknown mobile object around the one or more terminal units. Each terminal unit includes: an information acquisition component that acquires unknown mobile object information; a detected information generation component that generates a detected information set concerning an unknown mobile object; and a terminal-side communication component that transmits the detected information set. The monitoring unit includes: a collecting-side communication component that receives the detected information set; and a determination component that determines presence or absence of an unknown mobile object based on a collection of one or more detected information sets that have been received. The determination component establishes reliability of the collection of one or more detected information sets based on the number of detected information sets that indicate the detection of a specific unknown mobile object that is at the same location at the same time.

Description

CROSS-REFERENCE STATEMENT

This application is based on and claims priority from Japanese Patent Application No. 2020-047008, filed Mar. 17, 2020, the disclosure of which is hereby incorporated by reference herein in its entirety.

BACKGROUNDTechnical Field

The disclosure relates to a mobile object monitoring system and mobile object monitoring method.

Related Art

Popularity of vehicles with automated driving functions has been rising in recent years as a means of realizing safe and comfortable travel while reducing the burden of drivers.

For an automated vehicle to travel safely, the driving support apparatus that the automated vehicle is equipped with must have accurate information regarding the distribution of objects that surround the vehicle. The objects may, for example, include guardrails, traffic signals, signs, and traffic participants such as other vehicles, motorcycles, bicycles, and pedestrians.

To address this need, Patent Literature 1 (Japanese Unexamined Patent Application Publication No. 2020-4144) discloses an obstacle map generation device for generating an obstacle map using information on obstacles that are observed by an obstacle observation means. According toPatent Literature 1, the generated obstacle map indicates a movable area for a vehicle, an area occupied by an obstacle, and a blind spot.

The obstacle map generation device according toPatent Literature 1 includes an obstacle information acquisition component for acquiring information on obstacles that are observed by the obstacle observation means; a calculation component for calculating obstacle locations based on the information on obstacles acquired by the obstacle information acquisition component; a virtual point setting component for setting a location of a virtual point that is different from where the obstacle observation means is installed; and a virtual area determination component for determining a movable area and blind spot as observed from the virtual point based on the locations of the virtual point and obstacles.

The obstacle map concerning distribution information of obstacles according to the obstacle map generation device ofPatent Literature 1 contributes to the travel safety of automated vehicles.

However, gaining accurate and omission free information regarding an unknown mobile object that is in a blind spot of a point of observation remains an issue that is unresolved by the obstacle map generation device ofPatent Literature 1. Furthermore, there is also an issue concerning reliability of information regarding the unknown mobile object.

SUMMARY

A mobile object monitoring system in accordance with an embodiment includes: one or more terminal units and a monitoring unit configured to collect information concerning an unknown mobile object around the one or more terminal units and to monitor the unknown mobile object. Each of the one or more terminal units includes: an information acquisition component configured to acquire unknown mobile object information, the unknown mobile object information including location information of the unknown mobile object; a detected information generation component configured to generate a detected information set concerning an unknown mobile object, the detected information set including the acquired unknown mobile object information, time information on a time of the acquisition, and identification information concerning the unknown mobile object; and a terminal-side communication component configured to transmit the generated detected information set. The monitoring unit includes: a collecting-side communication component configured to receive the detected information set transmitted from the terminal-side communication component of each of the one or more terminal units to form a collection of one or more detected information sets; and a determination component configured to determine presence or absence of the unknown mobile object based on the collection of one or more detected information sets. Regarding the collection of one or more detected information sets, the determination component is configured to establish reliability based on the number of detected information sets in a first group of detected information sets that indicate a detection of a specific unknown mobile object that is at the same location at the same time, the first group forming a part or whole of the collection of one or more detected information sets.

DRAWINGS

FIG.1 is a schematic diagram showing an overview of a mobile object monitoring system in accordance with at least one embodiment.

FIG.2 is a functional block diagram showing a schematic configuration of an on-board device that is equipped with a terminal unit and installed on a vehicle.

FIG.3 is a schematic diagram of a data transmission frame that is transmitted from a terminal unit to a monitoring unit in a mobile object monitoring system in accordance with at least one embodiment.

FIG.4 is a functional block diagram showing a schematic configuration of a monitoring unit.

FIG.5 is a diagram showing a series of steps involving information processing performed sequentially by a monitoring unit (a requesting side) and terminal units (on a responding side) of a mobile object monitoring system in accordance with at least one embodiment.

FIG.6 is a schematic diagram showing an overview of a mobile object monitoring system in accordance with a variation of an embodiment.

DETAILED DESCRIPTION

In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are schematically shown in order to simplify the drawing.

A detailed description of a mobile object monitoring system and mobile object monitoring method in accordance with an embodiment of the disclosure follows with reference to drawings.

Note that in the drawings, components with a common function that do not need to be identified separately use a common reference symbol in the drawings. Furthermore, for convenience of explanation, components may be shown schematically with shapes and sizes of the components modified or exaggerated.

The object of the disclosure is to provide a mobile object monitoring system and mobile object monitoring method that are capable of increasing the reliability of information regarding an unknown mobile object that is in a blind spot of a point of observation.

In the description that follows, a mobile object monitoring system and mobile object monitoring method that are in accordance with an embodiment of the disclosure and capable of increasing the reliability of information regarding an unknown mobile object in a blind spot of a point of observation are described.

<<Configuration of MobileObject Monitoring System11>>

A configuration of a mobileobject monitoring system11 according to an embodiment of the disclosure is described with reference toFIG.1.

FIG.1 is a schematic diagram showing an overview of a mobileobject monitoring system11 in accordance with an embodiment.

As shown inFIG.1, a mobileobject monitoring system11 according to an embodiment includes a monitoring function that monitors an unknownmobile object13 by collecting, through vehicle-to-vehicle communication or vehicle-to-roadside communication, information regarding an unknownmobile object13 acquired at a plurality of detection sites and integrating the collection of information.

To achieve the monitoring function, the mobileobject monitoring system11 is configured to include, as shown inFIG.1, amonitoring unit19 and a plurality ofterminal units17a-17gthat are installed respectively on a plurality ofvehicles15a-15g.

Note that when distinction among vehicles is not necessary, one or more of thevehicles15a-15gmay generically be referred to as avehicle15 orvehicles15. Similarly, when distinction among terminal units is not necessary, one or more of theterminal units17a-17gmay generically be referred to as aterminal unit17 orterminal units17. Each of the plurality ofvehicles15a-15gcorresponds to a “mobile object” of the disclosure. A “mobile object” of the disclosure may be any object that is capable of movement such as a large-sized vehicle, a standard-sized vehicle, a motorcycle, a bicycle, or a pedestrian.

Themonitoring unit19 may be installed, for example, on aroadside unit21. Themonitoring unit19 includes a function for monitoring an unknownmobile object13 around each of the plurality ofvehicles15a-15gby cooperating with the plurality ofterminal units17a-17g.

An unknownmobile object13 is a mobile object with a part or whole thereof inside ablind spot18 related to a point of observation (in the example ofFIG.1, thevehicle15g) such as another vehicle, a motorcycle, a bicycle, or a pedestrian that is present around anown vehicle15 that is installed with aterminal unit17. An unknownmobile object13 may be a mobile object that is showing an odd behavior, such as moving at a different speed to theown vehicle15 and any other vehicle close by (that may, for example, be stationary).

Ablind spot18 of a point of observation is an area that cannot be viewed directly from the point of observation and is an area that is behind an object (including a sign) that is present around the point of observation.

Making an unknown mobile object13 a monitoring target is based on the Applicants' knowledge that the presence of such an unknownmobile object13 has a high tendency to disrupt traffic and to cause traffic accidents.

The environment in which themonitoring unit19 and theterminal units17 mounted onindividual vehicles15 are installed is next described.

FIG.1 shows an unknownmobile object13 and a plurality ofvehicle15a-15gthat are travelling in the vicinity of a three-way junction5. The three-way junction5 ofFIG.1 has aminor road9, with a single lane in each direction, intersecting with amain road7 with two lanes in each direction.

On themain road7, threevehicles15b,15d, and15fare travelling at reduced speed on a right-hand lane7a, and another threevehicles15a,15c, and15eare travelling at reduced speed on a left-hand lane7b. Note that the “right-hand” and “left-hand” describe sides with respect to a direction of travel as indicated by an arrow. Thevehicles15a-15fare equipped respectively with responding-side terminal units17a-17f. Respondingside terminal units17a-17frefer toterminal units17 that are providers of a detected information set.

In other words, on themain road7 ofFIG.1,terminal units17b,17d, and17f, which are installed respectively onvehicles15b,15d, and15f, are shown to be located on the right-hand lane7aandterminal units17a,17c, and17e, which are installed respectively onvehicles15a,15c, and15e, are shown to be located on the left-hand lane7b.

On the minor road9 (with a single lane in each direction), asingle vehicle15gis stationary at astop line10 on adriving lane9a. Thevehicle15gis facing the three-way junction5 and is waiting to join traffic in themain road7 in the direction of travel. Thisvehicle15gis equipped with a requesting-side terminal unit17g. A requesting-side terminal unit17grefers to aterminal unit17 that requests the provision of a detected information set.

In other words, on theminor road9 ofFIG.1, there is asingle terminal unit17gthat is installed on thesingle vehicle15gon thedriving lane9a. The driver of thisvehicle15gis waiting for an opportunity to move into agap16 between thevehicle15bandvehicle15don the right-hand lane7ato join themain road7, a priority road.

An unknownmobile object13 may, for example, be a motorcycle. The unknownmobile object13 ofFIG.1 is moving through traffic at a higher speed compared to surroundingvehicles15 on themain road7. While traveling on the right-hand lane7a, the unknownmobile object13 makes use of the space to the left of thevehicles15fand15dthat are traveling at reduced speed (note that “left” refers to a side with respect to the direction of travel).

InFIG.1, themonitoring unit19 is installed on the left corner of the three-way junction5 as viewed when travelling towards the three-way junction5 on themain road7 in the direction of travel.

The three-way junction5 may, for example, be an accident black spot (a junction with a high concentration of accidents).

When there is congestion at the three-way junction5, because of a blind spot, movements of all obstacles including avehicle15 and an unknownmobile object13 that are travelling on themain road7 may not be observable. In the example ofFIG.1, ablind spot18 spreads behind thevehicle15cfor the driver of thevehicle15gthat is waiting at thestop line10 of thedriving lane9aof theminor road9. The whole of the unknownmobile object13 and thevehicle15fand a back portion of thevehicle15dare inside theblind spot18.

The problem that is found in this example is that the unknownmobile object13, the whole of which is inside theblind spot18 of the driver of thevehicle15g, is making its way to the three-way junction5 by threading through a group ofvehicles15 at a greater speed compared to thesevehicles15.

In cases such as this example, if the driver of thevehicle15genters the three-way junction5 by only paying attention to the movement of thevehicle15dwhile attempting to join themain road7 traffic on the right-hand lane7a, thevehicle15gis in danger of colliding with the approaching unknownmobile object13 when entering thegap16 between thevehicles15band15d.

The mobileobject monitoring system11 according to an embodiment of the disclosure monitors an unknownmobile object13 by (a) collecting, via vehicle-to-vehicle communication or vehicle-to-roadside communication, detected information sets concerning an unknown mobile object13 (details are given later) that are each obtained at a corresponding detection site, and (b) integrating the collection of detected information sets concerning an unknownmobile object13. By monitoring the unknownmobile object13 in this way, the reliability of information regarding an unknownmobile object13 that is present in theblind spot18 of thevehicle15gis improved significantly.

<<Configuration of an On-Board Device31 Equipped withTerminal Unit17>>

The configuration of an on-board device31 equipped with theterminal unit17 is described with reference toFIG.2. The on-board device31 is installed on avehicle15.

FIG.2 is a functional block diagram showing an overall configuration of an on-board device31 that is equipped with theterminal unit17.

As shown inFIG.2, the on-board device31 comprises an input-output apparatus33 and avehicle controller35 that includes aterminal unit17 and a drivingsupport unit34. Thevehicle controller35 is connected to avehicle operation apparatus37.

As shown inFIG.2, the input-output apparatus33 comprises anexternal sensor41, anavigator43, aV2X communication device45, an ownvehicle state sensor47, and an HMI49 (a human-machine interface49).

<<External Sensor41>>

Theexternal sensor41 includes a function to detect and obtain information on surrounding environment regarding one or more objects including a sign around thevehicle15 on which theexternal sensor41 is installed (an “own vehicle”). Theexternal sensor41 is configured to include acamera51,radar53, andlidar55.

According to the embodiment, theexternal sensor41 includesmultiple cameras51. One of thecameras51 has an optical axis that is inclined in an obliquely downward direction in the front of theown vehicle15 and includes a function for capturing an image of an area in the direction of travel of theown vehicle15. A camera such as a CMOS (complementary metal-oxide semiconductor) camera or CCD (charge-coupled device) camera may be used as thecamera51 as deemed appropriate. Thecameras51 may, for example, be installed in the vicinity of a rearview mirror (not shown) in theown vehicle15 interior and outside theown vehicle15 on front portions of the doors on the right and left sides.

Thecameras51 are configured to periodically capture images of the surrounding views to the front in the forward direction of travel, the rear right side, the rear left side, and the rear of theown vehicle15. Thecameras51 may also capture images of the surrounding views in response to a request from thevehicle controller35 to acquire mobile object monitoring information.

According to the embodiment, thecamera51 installed in the vicinity of the rearview mirror may, for example, be configured from a pair of monocular cameras arranged next to one another. In some embodiments, thecamera51 may be a stereo camera.

Image information of views to the front in the forward direction of travel, the rear right side, the rear left side, and the rear of theown vehicle15 that are captured by thecameras51 are sent to thevehicle controller35.

Theradar53 includes a function to acquire distribution information of an object, such as another vehicle travelling in front of theown vehicle15, by irradiating the object with a radar wave and receiving a radar wave reflected from the object. The distribution information of an object includes a distance to the object and a direction thereof. A laser, a microwave, a millimeter-wave, or an ultrasonic wave may for example be used as the radar wave as deemed appropriate.

According to the embodiment, theown vehicle15 may, for example, be equipped with a total of fiveradars53, with three at the front and two at the rear of theown vehicle15. The distribution information of an object obtained by eachradar53 is sent to thevehicle controller35.

The lidar (the Light Detection and Ranging)55 includes a function to detect a presence of an object and a distance thereto by measuring, for example, the time taken to detect scattered light in response to irradiation of light. According to the embodiment, theown vehicle15 may, for example, be equipped with a total of fivelidars55, with two at the front and three at the rear of theown vehicle15. The distribution information of an object obtained by eachlidar55 is sent to thevehicle controller35.

<<TheNavigator43>>

Thenavigator43 includes a function to map the current location of avehicle15 on which thenavigator43 is installed (an “own vehicle”) and to provide route guidance to a destination. Thenavigator43 may be configured to include a GNSS (Global Navigation Satellite System) receiver, navigation map information, a display unit with a touch panel that functions as a human-machine interface, a speaker, and a microphone (none are shown in the drawings). Thenavigator43 derives the current location of theown vehicle15 with the GNSS receiver and derives a route from the current location to a destination that is specified by a user.

The current location of theown vehicle15 and the route to the destination derived by thenavigator43 are provided to thevehicle controller35.

<<V2X Communication Device45>>

TheV2X communication device45 that is installed in a vehicle15 (an “own vehicle”) includes a function to perform either a vehicle-to-vehicle communication (a V2V communication) withother vehicles15 around theown vehicle15 or a vehicle-to-roadside communication (a V2R communication) with aroadside unit21 that is installed by the side of amain road7 on which theown vehicle15 travels. In some embodiments, TCP/IP may be used as the communication protocol of theV2X communication device45.

TheV2X communication device45 broadcasts a detected information set (seeFIG.3) generated by the detected information generation component63 (details will be given later) tovehicles15 around theown vehicle15 and to theroadside unit21.

<<OwnVehicle State Sensor47>>

The ownvehicle state sensor47 includes a function to acquire own vehicle state information concerning the state of avehicle15 in which the ownvehicle state sensor47 is installed (an “own vehicle”). The own vehicle state information acquired by the ownvehicle state sensor47 is sent to thevehicle controller35.

The ownvehicle state sensor47 may include a number of sensors for detecting the behavior of theown vehicle15 such as a speed sensor, an acceleration sensor, a steering angle sensor, a yaw rate sensor, a position sensor, and/or a direction sensor. The ownvehicle state sensor47 may include a sensor to detect an action of the driver (an action such as looking away from the direction of travel) or a sensor to obtain biological information of the driver (such as a heart rate or a level of awareness).

<<HMI49>>

TheHMI49 includes driving operation components and non-driving operation components. The boundary between the two sets of components does not have to be clear. In some embodiments, a driving operation components may include a function of a non-driving operation (or vice versa).

The driving operation components of theHMI49 may include, for example, an accelerator pedal, an accelerator pedal position sensor, an accelerator pedal reaction force control device, a brake pedal, a brake pedal position sensor, a gearshift, a gearshift position sensor, a steering wheel, a steering angle sensor, and a steering torque sensor.

The non-driving operation components of theHMI49 may include, for example, a multi-function display arranged on a console, a speaker, various operation switches, a seat and seat operation device, a window and window operation device, and a cabin camera.

<<Configuration ofVehicle Controller35>>

A description of the inner configuration of thevehicle controller35 that is installed on a vehicle15 (an “own vehicle”) will be given with reference toFIGS.2 and3.

FIG.3 is a schematic diagram showing the configuration of adata transmission frame39 that is transmitted from aterminal unit17 to amonitoring unit19 in a mobileobject monitoring system11 according to an embodiment of the disclosure.

Thevehicle controller35 may, for example, be realized with one or more processors or with a piece of hardware that includes an equivalent function. Thevehicle controller35 may, for example, be configured from one or more MPUs (micro-processing units) and/or one or more ECUs (an electronic control unit) that include a processor such as a CPU (a central processing unit), a memory, and a communication interface that are inter-connected by a bus.

Thevehicle controller35 includes: (a) a function to generate a detected information set regarding an unknownmobile object13 around theown vehicle15 using theexternal sensor41 installed on theown vehicle15; (b) a function to broadcast the generated detected information; and (c) a function to perform driving support of theown vehicle15 including acceleration, deceleration, and steering thereof.

In order to realize the abovementioned functions, thevehicle controller35 includes, as shown inFIG.2, aterminal unit17 and a drivingsupport unit34.

<<Configuration ofTerminal Unit17>>

Theterminal unit17 that is included in thevehicle controller35 is described with reference toFIG.2.

As shown inFIG.2, theterminal unit17 of thevehicle controller35 is configured to include aninformation acquisition component61, a detectedinformation generation component63, and a terminal-side communication component65.

Theinformation acquisition component61 includes a function to acquire unknown mobile object information that comprises presence or absence information and location information concerning an unknownmobile object13 around theown vehicle15. The location information concerning an unknownmobile object13 is only acquired when the unknownmobile object13 is present. Note that in the proceeding description, the unknown mobile object information may sometimes be referred to as “information regarding an unknownmobile object13”. The unknown mobile object information is a compound word describing a more specific concept of information regarding an unknownmobile object13.

The presence or absence information concerning an unknownmobile object13 is information regarding whether an unknownmobile object13 is present or not around theown vehicle15. The location information concerning an unknownmobile object13 is location information (such as a three-dimensional coordinate) of an unknownmobile object13 at the time of acquisition of information regarding the unknownmobile object13 by theexternal sensor41.

When multiple unknownmobile objects13 are present, the presence or absence information and location information concerning an unknownmobile object13 are acquired for each of the unknownmobile objects13 so that the presence or absence information is associated with the corresponding location information.

As shown inFIG.3, the unknown mobile object information that includes presence or absence information and location information concerning an unknownmobile object13 is used as a part of information included in thedata transmission frame39.

The detectedinformation generation component63 includes a function to generate a detected information set concerning an unknownmobile object13. The detected information set concerning an unknownmobile object13 includes unknown mobile object information acquired by theinformation acquisition component61, time information on the acquired time thereof, and identification information concerning the unknownmobile object13.

The time information on the acquired time of unknown mobile object information refers to information on the time of acquisition of location information of the unknownmobile object13 using theexternal sensor41. The identification information concerning an unknownmobile object13 is information that is characteristic of the unknownmobile object13 so that the unknownmobile object13 may be identified. For example, a vehicle registration plate number of an unknownmobile object13 corresponds to the identification information concerning an unknownmobile object13. Note that the concept of the identification information concerning an unknownmobile object13 includes a type of the unknown mobile object13 (for example, a car, truck, motorcycle, bicycle, or pedestrian).

The time information on the acquired time is expressed in absolute time. An absolute time refers to a highly accurate and shareable information on time such as time represented as formal elapsed time in seconds (counted as actual elapsed time minus inserted leap seconds plus removed leap seconds) from a given time in UTC (Coordinated Universal Time).

As shown inFIG.3, the detected information set that includes time information on the acquired time of location information concerning an unknownmobile object13 and identification information concerning an unknownmobile object13 is used as information of adata transmission frame39. In addition to the detected information set, thedata transmission frame39 also includes own vehicle information and destination information (not shown in the drawings). The own vehicle information includes own vehicle identification information, own vehicle location information, and transmission time information.

The own vehicle identification information refers to information that is characteristic of theown vehicle15 that enables theown vehicle15 to be uniquely identified. For example, a license plate number of theown vehicle15 corresponds to the own vehicle identification information.

The own vehicle location information is location information (for example, a three-dimensional coordinate) concerning theown vehicle15 at the time of acquisition of information regarding an unknownmobile object13 using theexternal sensor41.

The transmission time information is time (a timestamp) when theterminal unit17 transmits thedata transmission frame39 to themonitoring unit19.

The destination information is information regarding the destination of thedata transmission frame39. In the embodiment, the destination information of thedata transmission frame39 is set to a broadcast address. The broadcast address is used so that adata communication frame39 that includes relevant information may be sent out tomultiple vehicles15 at a location such as an intersection wheremultiple vehicles15 of unknown addresses may be travelling.

The terminal-side communication component65 includes a function to transmit adata transmission frame39, which includes a detected information set concerning an unknownmobile object13 generated by the detectedinformation generation component63, to a specific destination based on the destination information (a broadcast address).

The functions of theinformation acquisition component61, detectedinformation generation component63, and terminal-side communication component65 of theterminal unit17 may be realized through the execution of a program (software) by a processor. In some embodiments, a part or whole of these functions may be realized with hardware such as an LSI (large-scale integration) or ASIC (application specific integrated circuit). In some embodiments, a part or whole of these functions may be realized using a combination of software and hardware.

<<Configuration ofDriving Support Unit34>>

As shown inFIG.2, the drivingsupport unit34 included in thevehicle controller35 is configured to include an externalinformation acquisition component71, arecognition component73, a drivingsupport control component75, and a travel anddisplay control component77.

The externalinformation acquisition component71 includes a function to acquire surrounding environment information regarding an object, including a sign, around theown vehicle15. The surrounding environment information acquired by the externalinformation acquisition component71 is sent to therecognition component73.

Therecognition component73 may include functions such as an own vehicle location recognition function, a surrounding environment recognition function, an activity plan generation function, and/or a route generation function.

The own vehicle location recognition function is configured to recognize the driving lane of theown vehicle15 and the location of theown vehicle15 relative to the driving lane.

The surrounding environment recognition function is configured to recognize the surroundings of theown vehicle15 including the location, speed, and acceleration of a surroundingvehicle15.

The activity plan generation function is configured to set a starting location and destination location of automated vehicle operation.

The route generation function is configured to generate a route along which theown vehicle15 is to travel, based on an activity plan generated by the activity plan generation function.

Information on the own vehicle location and surrounding environment that is recognized by therecognition component73 is sent to the drivingsupport control component75. Information regarding the starting location and/or destination location of automated vehicle operation that is set by therecognition component73 is sent to the drivingsupport control component75. Information on the route along which theown vehicle15 is to travel that is generated by therecognition component73 is sent to the drivingsupport control component75.

The drivingsupport control component75 includes a function to determine a policy on driving support control that includes driving force control, steering control, and braking force control. The determined policy may be based on information such as an operation of the driver, a starting location of automated vehicle operation that is set by the activity plan generation function, a destination location of automated vehicle operation that is set by the activity plan generation function, a route generated by the route generation function along which theown vehicle15 is to travel, or any combination of the above. The policy on driving support control that is determined by the drivingsupport control component75 is sent to the travel anddisplay control component77.

The travel anddisplay control component77 performs travel control of theown vehicle15 including driving force control, steering control, and braking force control in accordance with the policy on driving support control that is determined by the drivingsupport control component75. Furthermore, the travel anddisplay control component77 performs display control of a display device that theown vehicle15 is equipped with.

The functions of the externalinformation acquisition component71,recognition component73, drivingsupport control component75, and travel anddisplay control component77 of the drivingsupport unit34 may be realized through the execution of a program (software) by a processor. In some embodiments, a part or whole of these functions may be realized with hardware such as an LSI (large-scale integration) or ASIC (application specific integrated circuit). In some embodiments, a part or whole of these functions may be realized using a combination of software and hardware.

<<Configuration ofVehicle Operation Apparatus37>>

As shown inFIG.2, thevehicle operation apparatus37 is configured to include adrive apparatus81,steering apparatus83, andbraking apparatus85.

Thedrive apparatus81 outputs driving force (torque) to a driving wheel to enable theown vehicle15 to move in accordance with a control instruction of the drivingsupport unit34 that thevehicle controller35 is equipped with.

When theown vehicle15 is a vehicle whose power source is an internal combustion engine, then thedrive apparatus81 may, for example, include an internal combustion engine, an engine ECU (an engine electronic control unit) for controlling the internal combustion engine, and a transmission (none shown in the drawings).

When theown vehicle15 is an electric vehicle whose power source is an electric motor, thedrive apparatus81 may, for example, include a traction motor and a motor ECU (a motor electronic control unit) for controlling the traction motor (neither the traction motor nor the motor ECU are shown in the drawings).

When theown vehicle15 is a hybrid vehicle, thedrive apparatus81 may, for example, include an internal combustion engine, a transmission, an engine ECU, a traction motor, and a motor ECU (none shown in the drawings).

Thesteering apparatus83 may include, for example, a steering ECU (a steering electronic control unit) and an electric motor (neither are shown in the drawings). The electric motor, for example, changes the direction of steered wheels by applying force with a rack and pinion mechanism. The steering ECU drives the electric motor to change the direction of the steered wheel in accordance with information on a steering angle and steering torque based on steering operation of a driver or in accordance with a control instruction by the drivingsupport unit34 of thevehicle controller35.

Thebraking apparatus85 may, for example, be an electric servo brake system that includes a brake caliper, a cylinder for transmitting hydraulic pressure to the brake caliper, an electric motor for generating hydraulic pressure in a cylinder, and a brake control component (none shown in the drawings). The brake control component of the electric servo brake system controls the electric motor according to a control instruction from the drivingsupport unit34 of thevehicle controller35 so that brake torque according to a brake operation is applied to individual wheels.

<<Configuration ofMonitoring Unit19>>

Themonitoring unit19 that aroadside unit21 is installed with is described with reference toFIG.4.FIG.4 is a functional block diagram showing the configuration of themonitoring unit19 in schematic form.

Themonitoring unit19 installed in aroadside unit21 may, for example, be realized with one or more processors or with a piece of hardware that includes an equivalent function. Themonitoring unit19 may, for example, be configured from one or more MPUs (micro-processing units) and/or one or more ECUs (an electronic control unit) that include a processor such as a CPU (a central processing unit), memory, and communication interface that are inter-connected by a bus.

In addition to themonitoring unit19, theroadside unit21 is equipped with aGPS receiver99 and anexternal sensor41. Before continuing with the description of themonitoring unit19 therefore, descriptions of theGPS receiver99 andexternal sensor41 are given below.

TheGPS receiver99 includes a function to receive position signals from multiple GPS satellites and to determine the absolute position (latitude, longitude, and altitude) of theroadside unit21 based on the position signals.

Theexternal sensor41 includes a function to detect and acquire information on the surrounding environment of theroadside unit21 regarding objects including signs that are present around theroadside unit21.

As shown inFIG.4, themonitoring unit19 is configured to include a collecting-side communication component91 anddetermination component93.

As shown inFIG.4, the collecting-side communication component91 includes a function to receive a detected information set concerning an unknownmobile object13 that has been sent from a terminal-side communication component65 of aterminal unit17 installed in avehicle15. Detected information sets concerning an unknownmobile object13 that are each sent from a corresponding one of a plurality ofterminal units17 and received by the collecting-side communication component91 are sent to thedetermination component93.

Thedetermination component93 includes a function that, in a basic form, determines the presence or absence of an unknownmobile object13 based on the plurality of detected information sets concerning an unknownmobile object13 that have been received by the collecting-side communication component91.

As shown inFIG.4, thedetermination component93 is configured to include a blindspot determination part95 andreliability setting part97.

The blindspot determination part95 includes a function to determine the presence or absence of an unknownmobile object13 in ablind spot18 related to a point of observation (in the example ofFIG.1, thevehicle15gis the point of observation).

As described earlier, ablind spot18 related to a point of observation is an area that cannot be viewed directly from the point of observation and is an area that spreads behind an object (such as a sign) that is present around the point of observation.

To determine the presence or absence of an unknownmobile object13 in ablind spot18 related to a point of observation, technologies regarding blind spot determination disclosed in Patent Literature 2 of the Applicant (publication number WO 2018/216194, filed May 26, 2017) and Patent Literature 3 of the Applicant (publication number US 2020/0180638, published Jun. 11, 2020) may, for example, be adopted as deemed appropriate. Teachings regarding blind spot determination disclosed in Patent Literature 2 and Patent Literature 3 are incorporated herein by reference (as part of the description regarding determination of the presence or absence of an unknownmobile object13 in ablind spot18 related to a point of observation).

Thereliability setting part97 includes a function to establish, regarding a plurality of detected information sets received by the collecting-side communication component91, the reliability of the detected information sets based on the number of detected information sets concerning an unknownmobile object13 describing the detection of a specific unknownmobile object13 that is at the same location at the same time.

The reliability of detected information sets is an index that measures the reliability of information regarding an unknownmobile object13 included in the detected information sets, including the presence or absence information and location information concerning an unknownmobile object13.

Algorithms that may be used for setting the reliability of detected information sets will be described later.

The functions of the collecting-side communication component91 anddetermination component93 of themonitoring unit19 may be realized through the execution of a program (software) by a processor. In some embodiments, a part or whole of these functions may be realized with hardware such as an LSI (large-scale integration) or ASIC (application specific integrated circuit). In some embodiments, a part or whole of these functions may be realized using a combination of software and hardware.

<<Operation of MobileObject Monitoring System11>>

The operation of a mobileobject monitoring system11 according to an embodiment of the disclosure is described with reference toFIG.5.

FIG.5 is a diagram showing a series of steps involving the processing of information that are performed sequentially by a monitoring unit19 (a requesting side) and individual terminal units17 (on a responding side) of a mobileobject monitoring system11 in accordance with at least one embodiment.

In the mobileobject monitoring system11, the processing of information is performed individually by (a) a requesting-side on-board device that requests a detected information set regarding an unknown mobile object13 (in the example ofFIG.1, theterminal unit17gof thevehicle15g), (b) a responding-side on-board device that responds by acquiring a detected information set concerning an unknown mobile object13 (in the example ofFIG.1, each of the plurality ofterminal units17a-17fthat are installed respectively in the plurality ofvehicles15a-15f), and (c) a monitoring unit19 (installed on the roadside unit21) that mediates the exchange of information between the on-board devices, under a traffic environment such as the three-way junction5 shown inFIG.1.

In step S11 ofFIG.5, the requesting-side terminal unit17g(that is included in an on-board device31) ofvehicle15gtransmits a request-for-information-provision signal requesting a provision of information regarding an unknownmobile object13 through broadcasting via a termina-side communication component65 andV2X communication device45.

Thevehicle15ginstalled with the requesting-side terminal unit17gis waiting (temporarily stationary) at thestop line10 of theminor road9. The driver of thevehicle15gis looking to join the traffic on themain road7 by using thegap16 betweenvehicles15band15don the right-hand lane7a.

The transmission of the request-for-information-provision signal by the requesting-side terminal unit17gof step S11 may be omitted.

In step S12, themonitoring unit19, upon receiving the request-for-information-provision signal from the requesting-side terminal unit17g, transmits a request-to-respond-with-information signal requesting a response on a detected information set concerning an unknownmobile object13 through broadcasting via the collecting-side communication component91. In this request-to-respond-with-information signal, information is included on a designated time when unknown mobile object information is to be acquired by the responding-side terminal units17a-17f.

Consider a case where a single unknownmobile object13 is present in a blind spot at a designated time for acquiring the unknown mobile object information. When this time for acquiring the unknown mobile object information is not designated, the resulting group of unknown mobile object information acquired at different times will indicate the presence of the unknownmobile object13 at different locations that correspond to the different times of acquisition. As a consequence, identification of the unknownmobile object13 through integration of detected information sets concerning an unknownmobile object13 that include the concept of unknown mobile object information becomes more difficult.

The designated time is set to a time that includes a predetermined delay time with respect to the transmission time of request to respond with information signal. The predetermined delay time allows for a preparation period for the responding-side terminal units17a-17fto acquire the unknown mobile object information at the designated time with certainty.

Even in cases where the transmission of the request-for-information-provision signal by the requesting-side terminal unit17gof step S11 is omitted, the request-to-respond-with-information signal requesting a response on a detected information set concerning an unknownmobile object13 may still be transmitted by themonitoring unit19 via the collecting-side communication component91. For example, themonitoring unit19 may repeatedly broadcast a request-to-respond-with-information signal at a predetermined interval of time. For example, themonitoring unit19 may broadcast a request-to-respond-with-information signal based on the state of traffic at the three-way junction5 as perceived by theexternal sensor41 of theroadside unit21. For example, themonitoring unit19 may broadcast a request-to-respond-with-information signal based on whether there is avehicle15 waiting at thestop line10 of theminor road9.

In step S13, each of the responding-side terminal units17a-17facquires unknown mobile object information that includes the presence or absence information and location information concerning an unknownmobile object13 at the designated time included in the request-to-respond-with-information signal. The responding-side terminal units17a-17feach generates a detected information set concerning an unknownmobile object13 that includes the unknown mobile object information that has been acquired, time information on the time of acquisition of the unknown mobile object information, and identification information concerning the unknownmobile object13.

In step S14, each of the responding-side terminal units17a-17fbroadcasts, via a terminal-side communication component65 and V2X communication device, an information response signal (see thedata transmission frame39 ofFIG.3) that includes a response on a detected information set concerning an unknownmobile object13.

In step S15, upon receiving the information response signals from the responding-side terminal units17a-17f, themonitoring unit19 integrates and analyzes the detected information sets concerning an unknownmobile object13. In the integrated analysis of the detected information sets concerning an unknownmobile object13, the number of responses in which the detected information set concerning an unknownmobile object13 indicates the detection of a specific unknownmobile object13 that is at the same location at the same time is counted. The number of responses in which the detected information set indicates the absence of an unknownmobile object13 is also counted.

In step S16, themonitoring unit19 identifies the presence or absence concerning an unknownmobile object13 and the location thereof based on the result of the analysis of detected information sets carried out in step S15.

In step S17, themonitoring unit19 establishes the reliability of detected information sets concerning an unknownmobile object13 based on the following result of the analysis of detected information sets of step S15: the number of responses in which the detected information set concerning an unknownmobile object13 indicates the detection of a specific unknownmobile object13 that is at the same location at the same time.

For example, when the number of responses in which the detected information set concerning an unknownmobile object13 indicates the detection of a specific unknownmobile object13 that is at the same location at the same time is above a predetermined response number threshold, the reliability of the detected information sets concerning an unknownmobile object13 may be established as being high, and the presence of the specific unknownmobile object13 at the detected location may be established.

In some embodiments, themonitoring unit19 may be configured to establish the reliability of detected information sets concerning an unknownmobile object13 based further on the identification information concerning an unknown mobile object13 (the identification information may include type information identifying a type of unknownmobile object13 such as a large-sized vehicle, standard-sized vehicle, motorcycle, bicycle, or pedestrian).

For example, consider two cases with the same number of responses in which the detected information set concerning an unknownmobile object13 indicates the detection of a specific unknownmobile object13 that is at the same location at the same time. In the two cases, however, the type of unknownmobile object13, which is based on the identification information concerning an unknownmobile object13, are different. In the first case, the type of unknownmobile object13 is identified as a vulnerable road user such as a motorcycle, bicycle, or pedestrian. In the second case, the type of unknownmobile object13 is identified as a less vulnerable road user such as a large-sized vehicle or a standard-sized vehicle. Themonitoring unit19 may be configured so that the reliability of detected information sets indicating the presence of the specific unknownmobile object13 at detection sites is established to be higher for the first case than for the second case. This may be achieved, for example, by lowering the response number threshold for cases involving an unknownmobile object13 that is identified as a vulnerable road user so that an event involving the presence of an unknownmobile object13 that is a vulnerable road user is affirmed more strongly.

Establishing higher reliability of detected information sets indicating the presence of a specific unknownmobile object13 at detection sites includes cases where the dependability of detected information sets is determined for the first time, as well as cases where the dependability of detected information sets is established further.

By making the presence of vulnerable road users stand out as unknownmobile objects13 compared to less vulnerable road users, the protection of vulnerable road users may be prioritized.

The terms “vulnerable road user” and “less vulnerable road user” are relative concepts. For example, when a large-sized vehicle and standard-sized vehicle are compared with one another, the former is the less vulnerable road user and the latter the vulnerable road user. When a motorcycle, bicycle, and pedestrian are compared with one another, the level of vulnerability as a road user rises in the given order (i.e., a pedestrian is more vulnerable than a bicycle, which in turn is more vulnerable than a motorcycle).

In some embodiments, themonitoring unit19 may establish the reliability of detected information sets concerning an unknownmobile object13 based on the following result of the analysis of detected information sets of step S15: the number of responses in which the detected information set concerning an unknownmobile object13 indicates the detection of a specific unknownmobile object13 that is at the same location at the same time and the number of responses in which the detected information set indicates the absence of an unknownmobile object13.

In these embodiments, the reliability of detected information sets concerning an unknownmobile object13 is set to be higher the greater the number of responses in which the detected information set concerning an unknownmobile object13 indicates the detection of a specific unknownmobile object13 that is at the same location at the same time and greater the sum of a first number of responses and second number of responses, the first number of responses being the number of responses in which the detected information set indicates the detection of the specific unknownmobile object13 and the second number of responses being the number of responses in which the detected information set indicates the absence of the specific unknownmobile object13. In doing so, the level of certainty of the specific unknownmobile object13 being present at detection sites is raised.

In step S18, themonitoring unit19 broadcasts, via the collecting-side communication component91, an information provision signal providing information regarding an unknownmobile object13 including the reliability of detected information sets concerning an unknownmobile object13.

The requesting-side terminal unit17gthat receives the information provision signal from theroadside unit21 performs driving support of theown vehicle15gbased on the information regarding an unknownmobile object13. For example, the information regarding an unknownmobile object13 may be displayed on a multi-function display.

<<Advantageous Effects of MobileObject Monitoring System11 and Mobile Object Monitoring Method According to Embodiments>>

A description of the advantageous effects of the mobileobject monitoring system11 and mobile object monitoring method in accordance with the embodiments of the disclosure follows.

In a first aspect of the disclosure, the mobileobject monitoring system11 includes one or moreterminal units17 and amonitoring unit19 that is configured to monitor an unknownmobile object13 through collecting information concerning an unknownmobile object13 around the one or moreterminal units17.

Each of the one or moreterminal units17 includes aninformation acquisition component61, a detectedinformation generation component63, and a terminal-side communication component65. Theinformation acquisition component61 acquires unknown mobile object information that includes location information of an unknownmobile object13. The detectedinformation generation component63 generates a detected information set concerning an unknownmobile object13 that includes the acquired unknown mobile object information, time information on the time of acquisition of the unknown mobile object information, and identification information concerning the unknownmobile object13. The terminal-side communication component65 transmits the generated detected information set.

Themonitoring unit19 includes a collecting-side communication component91 and adetermination component93. The collecting-side communication component91 receives one or more detected information sets transmitted from one or more terminal-side communication components65 of the one or moreterminal units17. Thedetermination component93 determines the presence or absence of an unknownmobile object13 based on the received one or more detected information sets. Thedetermination component93 is configured to establish reliability of the received one or more detected information sets based on the number of detected information sets that indicate the detection of a specific unknownmobile object13 that is at the same location at the same time.

In the mobileobject monitoring system11 according to the first aspect, theinformation acquisition component61 of theterminal unit17 acquires unknown mobile object information that includes location information of an unknownmobile object13. The detectedinformation generation component63 generates a detected information set concerning an unknownmobile object13 that includes the acquired unknown mobile object information, time information on the time of acquisition of the acquired unknown mobile object information, and identification information concerning the unknownmobile object13. The terminal-side communication component65 transmits the generated detected information set.

The collecting-side communication component91 of themonitoring unit19 receives one or more detected information sets transmitted from one or more terminal-side communication components91. Thedetermination component93 determines the presence or absence of an unknownmobile object13 based on the received one or more detected information sets.

Thedetermination component93, regarding the received one or more detected information sets, establishes the reliability of the one or more detected information sets based on the number of detected information sets that indicate the detection of a specific unknownmobile object13 that is at the same location at the same time.

Themonitoring unit19 has been described as being “configured to monitor an unknownmobile object13 through collecting information concerning an unknownmobile object13” to clarify that themonitoring unit19 does not need to monitor an unknownmobile object13 directly as part of its function. In some embodiments, however, themonitoring unit19 may include a function to directly monitor an unknownmobile object13.

The phrase “establishes the reliability of the one or more detected information sets based on . . . ” is used to treat the reliability of one or more detected information sets as taking a value that is based on a number relating to the one or more detected information sets.

In some embodiments, theterminal unit17 may be installed in a mobile object that includes a communication function (such as a vehicle15). In some embodiments, theterminal unit17 may be installed in aroadside unit21 that includes a communication function.

In some embodiments, themonitoring unit19 may, similar to theterminal unit17, be installed in a mobile object that includes a communication function (such as a vehicle15). In some embodiments, themonitoring unit19 may be installed in aroadside unit21 that includes a communication function.

The mobileobject monitoring system11 according to the first aspect is configured to monitor an unknownmobile object13 by collecting, via communication, sets of information regarding an unknownmobile object13 that are each obtained at a corresponding one of a plurality of detection sites and integrating the sets of information regarding an unknownmobile object13 to significantly increase the reliability of information regarding an unknownmobile object13 in ablind spot18 related to a point of observation.

In a second aspect of the disclosure, the mobileobject monitoring system11 includes a plurality ofterminal units17 and onemonitoring unit19. Each of the plurality ofterminal units17 are installed on a corresponding one of a plurality of mobile objects (vehicles15). Themonitoring unit19 is configured to monitor an unknownmobile object13 through collecting information concerning an unknownmobile object13 around each of the plurality of mobile objects (vehicles15).

The plurality ofterminal units17 each includes aninformation acquisition component61, a detectedinformation generation component63, and a terminal-side communication component65. Theinformation acquisition component61 is configured to acquire unknown mobile object information that includes presence or absence information of an unknownmobile object13 and, when the unknownmobile object13 is present, location information of the unknownmobile object13. The detectedinformation generation component63 generates a detected information set concerning an unknownmobile object13 that includes the acquired unknown mobile object information, time information on the time of acquisition thereof, and identification information concerning the unknownmobile object13. The terminal-side communication component65 is configured to transmit the generated detected information set.

Themonitoring unit19 includes a collecting-side communication component91 and adetermination component93. The collecting-side communication component91 is configured to receive a plurality of detected information sets that have each been sent from a corresponding one of the plurality of terminal-side communication components65. Thedetermination component93 is configured to determine the presence or absence of an unknownmobile object13 based on the plurality of detected information sets that have been received. Thedetermination component93 is configured to establish, regarding the plurality of detected information sets received, reliability of the detected information sets based on the number of detected information sets indicating the detection of a specific unknownmobile object13 that is at the same location at the same time.

The first difference between the mobileobject monitoring system11 according to the first aspect and the mobileobject monitoring system11 according to the second aspect is that with the latter system, the information acquisition component acquires information on the presence or absence of an unknownmobile object13 and, when the unknownmobile object13 is present, acquires unknown mobile object information that includes location information of the unknownmobile object13. The second difference is that with the latter system, there is onemonitoring unit19 associated with multipleterminal units17 that are each installed in a corresponding one of a plurality of mobile objects (vehicles15).

In the mobileobject monitoring system11 according to the second aspect, theinformation acquisition component61 of each of the plurality of terminal units17 (which are each installed on a corresponding one of the plurality of mobile objects [vehicles15]) acquires unknown mobile object information that includes presence or absence information of an unknown mobile object and, when the unknown mobile object is present, location information of the unknown mobile object. The detectedinformation generation component63 generates a detected information set concerning an unknownmobile object13 that includes the unknown mobile object information that has been acquired, time information on the time of acquisition of the unknown mobile object information, and identification information concerning the unknownmobile object13. The terminal-side communication component65 transmits the generated detected information set.

Themonitoring unit19 receives a plurality of detected information sets that have each been transmitted from a corresponding one of the plurality of terminal-side communication components65. Thedetermination component93 determines the presence or absence of an unknownmobile object13 based on the received plurality of detected information sets.

Thedetermination component93 establishes, regarding the plurality of detected information sets that have been received, the reliability of the detected information sets based on the number of detected information sets that indicate the detection of a specific unknownmobile object13 that is at the same location at the same time.

In some embodiments, theterminal unit17 may be installed in a mobile object (a vehicle15) that includes a communication function. In some embodiments, theterminal unit17 may be installed in aroadside unit21 that includes a communication function. Note that these are similar to the examples of the mobileobject monitoring system11 according to the first aspect.

In some embodiments, themonitoring unit19 may be installed in avehicle15 that includes a communication function. In some embodiments, themonitoring unit19 may be installed in aroadside unit21 that includes a communication function. Note that these are similar to the examples of the mobileobject monitoring system11 according to the first aspect.

In the mobileobject monitoring system11 according to the second aspect, the monitoring of an unknownmobile object13 is performed by collecting, via communication, sets of information regarding an unknownmobile object13 that have each been obtained at a corresponding one of a plurality of detection sites and integrating the sets of information to significantly increase the reliability of information regarding an unknownmobile object13 in ablind spot18 that is related to a point of observation.

The mobileobject monitoring system11 according to the second aspect adopts a configuration of a more generic concept in which themonitoring unit19 may be installed in avehicle15 that includes a communication function or in aroadside unit21 that includes a communication function.

In a third aspect of the disclosure, the mobileobject monitoring system11 is in accordance with the second aspect, and, as shown inFIG.6, is further configured so that (a) aterminal unit17 is installed in each one of a plurality of mobile objects such asvehicles15 and (b) amobile unit19 is installed on mobile object such as avehicle15. Furthermore, the collecting-side communication component91 of themonitoring unit19 that is installed in a mobile object is configured to communicate with multipleterminal units17 that are each installed in a corresponding one of the plurality of mobile objects in order to receive multiple detected information sets that have each been sent from a corresponding one of a plurality of terminal-side communication components65.

The configuration of amonitoring unit19 shown inFIG.4 may be used for themonitoring unit19 installed in a mobile object (a vehicle15). In cases where the configuration of themonitoring unit19 shown inFIG.4 is adopted, for theexternal sensor41, the one installed in the mobile object (a vehicle15) may be used, and forGPS receiver99, the one included in thenavigator43 of the mobile object (a vehicle15) may be used.

The mobileobject monitoring system11 according to the third aspect differs from the mobileobject monitoring system11 according to the second aspect in that themonitoring unit19 is installed on a mobile object (a vehicle15) in the former (the third aspect).

Therefore, in the mobileobject monitoring system11 according to the third aspect, the collecting-side communication component91 of themonitoring unit19 that is installed in a mobile object (vehicle15) receives multiple detected information sets that are each sent from a corresponding one of a plurality of terminal-side communication components65 by communicating with multipleterminal units17 that are each installed in a corresponding one of a plurality of mobile objects (vehicles15).

In the mobileobject monitoring system11 according to the third aspect, the monitoring of an unknownmobile object13 is performed by collecting, through communication with a plurality of mobile objects (vehicles15), sets of information regarding an unknownmobile object13 that have been acquired at a plurality of detection sites and integrating the sets of information to significantly improve the reliability of information regarding an unknownmobile object13 in ablind spot18 related to a point of observation.

In a fourth aspect of the disclosure, the mobileobject monitoring system11 is in accordance with the first, second, or third aspect. Furthermore, in the mobileobject monitoring system11 according to the fourth aspect, the identification information included in the detected information set concerning an unknownmobile object13 includes type information indicating the type of the unknownmobile object13.

Thedetermination component93 of themonitoring unit19 may, regarding the plurality of detected information sets that have been received, be configured to establish reliability of the detected information sets based on type information of an unknownmobile object13 that is included in the identification information of detected information sets that indicate the detection of a specific unknownmobile object13 that is at the same location at the same time.

In the mobileobject monitoring system11 according to the fourth aspect, thedetermination component93 of themonitoring unit19 establishes, regarding the plurality of detected information sets that have been received, the reliability of the detected information sets based on type information of an unknownmobile object13 that is included in the identification information of the detected information sets that indicate the detection of a specific unknownmobile object13 that is at the same location at the same time.

The type information of an unknownmobile object13 is information indicating what type of mobile object the unknownmobile object13 is, such as a large-sized vehicle, standard-sized vehicle, motorcycle, or pedestrian.

For example, consider two cases with the same number of responses in which the detected information set concerning an unknownmobile object13 indicates the detection of a specific unknownmobile object13 that is at the same location at the same time. In the two cases, however, the type of unknownmobile object13, which is based on the identification information concerning an unknownmobile object13, are different. In the first case, the type of unknownmobile object13 is identified as a vulnerable road user such as a motorcycle, bicycle, or pedestrian. In the second case, the type of an unknownmobile object13 is identified as a less vulnerable road user such as a large-sized vehicle or standard-sized vehicle. The reliability of detected information sets indicating the presence of a specific unknownmobile object13 at detection sites is established to be higher for the first case than for the second case.

Establishing a higher reliability of one or more detected information sets may, for example, be achieved by lowering a predetermined response number threshold, a criterion used for determining whether the reliability of one or more detected information sets concerning an unknownmobile object13 is high (based on the number of responses in which the detected information set concerning an unknownmobile object13 indicates the detection of a specific unknownmobile object13 that is at the same location at the same time). The predetermined response number threshold is lowered for the purpose of affirming the presence of an unknownmobile object13 that is a vulnerable road user at a detection site more strongly.

Compared to a mobileobject monitoring system11 according to the second or third aspect, the mobileobject monitoring system11 according to the fourth aspect makes the presence of a vulnerable road user as an unknownmobile object13 more noticeable over the presence of a less vulnerable road user, and an advantageous effect of protecting vulnerable road users with priority can be expected.

In a fifth aspect of the disclosure, the mobileobject monitoring system11 is in accordance with the first, second, third, or fourth aspect. Furthermore, the collecting-side communication component91 of themonitoring unit19 is configured to transmit a request to acquire unknown mobile object information at a specified time, and theinformation acquisition component61 of each of a plurality ofterminal units17 is configured to acquire unknown mobile object information at the specified time.

In the mobileobject monitoring system11 according to the fifth aspect, the collecting-side communication component91 of themonitoring unit19 transmits a request to acquire unknown mobile object information at a specified time and theinformation acquisition component61 of each of the plurality ofterminal units17 acquires unknown mobile object information at the specified time.

Because the collecting-side communication component91 of themonitoring unit19 transmits a request to acquire unknown mobile object information at a specified time and theinformation acquisition component61 of each of the plurality ofterminal units17 acquires unknown mobile object information at the specified time, an advantageous effect can be expected in the mobileobject monitoring system11 according to the fifth aspect. Compared to a mobileobject monitoring system11 according to the second, third, or fourth aspect, the process of identifying an unknown mobile object13 (identifying an unknownmobile object13 that is detected at the same location at the same time as a specific unknown mobile object13) by integrating detected information sets concerning an unknown mobile object13 (note that the detected information set includes the concept of unknown mobile object information) may be simplified and performed accurately.

In a sixth aspect of the disclosure, the mobileobject monitoring system11 is in accordance with the fifth aspect and thedetermination component93 of themonitoring unit19 is further configured to establish, regarding a plurality of detected information sets that have been received, the reliability of the detected information sets based on a sum of (a) the number of detected information sets indicating the detection of a specific unknownmobile object13 that is at the same location at the same time and (b) the number of one or more detected information sets indicating the absence of the specific unknownmobile object13.

In the mobileobject monitoring system11 according to the sixth aspect, thedetermination component93 of themonitoring unit19 establishes, regarding a plurality of detected information sets that have been received, the reliability of the detected information sets based on a sum of (a) the number of detected information sets indicating the detection of a specific unknownmobile object13 that is at the same location at the same time and (b) the number of one or more detected information sets indicating the absence of the specific unknownmobile object13.

The sum of (a) the number of detected information sets indicating the detection of a specific unknownmobile object13 and (b) the number of one or more detected information sets indicating the absence of the specific unknownmobile object13 is information (a parameter) on the number of mobile objects (vehicles15) installed with aterminal unit17 that is capable of providing information regarding an unknownmobile object13 to themonitoring unit19.

The reliability of detected information sets is a subject matter that may be processed statistically. Thus, in the mobileobject monitoring system11 according to the sixth aspect, the information (a parameter) on the number of mobile objects (vehicles15) installed with aterminal unit17 that is capable of providing information regarding an unknownmobile object13 to themonitoring unit19 may be taken into account when establishing the reliability of detected information sets.

Because information (a parameter) on the number of mobile objects (vehicles15) installed with aterminal unit17 that is capable of providing information regarding an unknownmobile object13 to themonitoring unit19 may be taken into account when establishing the reliability of detected information sets, an advantageous effect can be expected in the mobileobject monitoring system11 according to the sixth aspect. Compared to the mobileobject monitoring system11 according to the fifth aspect, it can be expected that the reliability of detected information sets to be established with greater accuracy.

In a seventh aspect of the disclosure, the mobileobject monitoring system11 is in accordance with the fifth aspect. Furthermore, theinformation acquisition component61 included in each of a plurality ofterminal units17 is configured to include anexternal sensor41 that detects an object in the surrounding environment and obtains surrounding environment information including presence or absence and a location of an object around a mobile object (vehicle15) in which the correspondingterminal unit17 is installed. The unknown mobile object information is configured to include information on the detection accuracy of surrounding environment information related to theexternal sensor41.

In response to receiving a plurality of detected information sets that include (a) a third group of one or more detected information sets and (b) a fourth group of one or more detected information sets, and the third group is based on unknown mobile object information detected by anexternal sensor41 providing a first level of detection accuracy and the fourth group is based on unknown mobile object information detected by anexternal sensor41 providing a second level of detection accuracy that is lower than the first level of detection accuracy, thedetermination component93 of themonitoring unit19 is configured to prioritize the use of the third group of one or more detected information sets to determine the presence or absence of an unknownmobile object13.

In the mobileobject monitoring system11 according to the seventh aspect, when a plurality of detected information sets that have been received includes (a) a third group of one or more detected information sets and (b) a fourth group of one or more detected information sets, and the third group is based on unknown mobile object information detected by anexternal sensor41 providing a first level of detection accuracy and the fourth group is based on unknown mobile object information detected by anexternal sensor41 providing a second level of detection accuracy that is lower than the first level of detection accuracy, thedetermination component93 of themonitoring unit19 prioritizes the use of the third group of one or more detected information sets to determine the presence or absence of an unknownmobile object13.

In other words, when a plurality of detected information sets that have been received include detected information sets of different levels of accuracy (the third and fourth groups of detected information sets), thedetermination component93 of themonitoring unit19 determines the presence or absence of an unknown mobile object by prioritizing the use of the third group of one or more detected information sets with a higher level of accuracy.

Because thedetermination component93 of themonitoring unit19 determines the presence or absence of an unknown mobile object by prioritizing the use of a group of one or more detected information sets with a higher level of accuracy (the third group) when a plurality of detected information sets that have been received include detected information sets of different levels of accuracy (the third and fourth group of detected information sets), an advantageous effect can be expected for the mobileobject monitoring system11 according to the seventh aspect. Compared to a mobileobject monitoring system11 according to the fifth aspect, the accuracy of determination of the presence or absence of an unknown mobile object and furthermore the accuracy with which the reliability of detected information sets is established is expected to rise.

In an eighth aspect of the disclosure, the mobileobject monitoring system11 is in accordance with the third aspect. Furthermore, thedetermination component93 of themonitoring unit19 installed on a mobile object (a vehicle15), an own mobile object, is configured to determine a blind spot related to the own mobile object (a vehicle15), and determine whether a current location of an unknownmobile object13 is in theblind spot18 related to the own mobile object (a vehicle15). In response to receiving a plurality of detected information sets that include (a) a fifth group of one or more detected information sets based on unknown mobile object information indicating that the unknownmobile object13 is in theblind spot18 and (b) a sixth group of one or more detected information sets based on unknown mobile object information indicating that the unknownmobile object13 is not in theblind spot18, thedetermination component93 is configured to determine the presence or absence of the unknownmobile object13 by prioritizing the use of the fifth group of one or more detected information sets.

In the mobileobject monitoring system11 according to the eighth aspect, themonitoring unit19 is installed in a mobile object (a vehicle15), an own mobile object, that is on a requesting side and that requests information regarding an unknownmobile object13 that is in ablind spot18 of the own mobile object to be provided. When a plurality of detected information sets that are received include (a) a fifth group of one or more detected information sets based on unknown mobile object information indicating that the unknownmobile object13 is in theblind spot18 and (b) a sixth group of one or more detected information sets based on unknown mobile object information indicating that the unknownmobile object13 is not in theblind spot18, thedetermination component93 determines the presence or absence of the unknownmobile object13 by prioritizing the use of the fifth group of one or more detected information sets.

In other words, when thedetermination component93 of themonitoring unit19, which is installed in a mobile object (a vehicle15), receives a plurality of detected information sets that includes a mixture of (a) a fifth group of one or more detected information sets indicating the unknownmobile object13 to be in ablind spot18 of theown vehicle15 and (b) a sixth group of one or more detected information sets indicating the unknownmobile object13 to not be in theblind spot18, thedetermination component93 determines the presence or absence of the unknownmobile object13 by prioritizing the use of the fifth group of one or more detected information sets. Since the fifth group of one or more detected information sets indicates the unknownmobile object13 to be in ablind spot18 of the own mobile object, prioritizing the fifth group is more meaningful in securing the safe travel of the own mobile object (a vehicle15).

In the mobileobject monitoring system11 according to the eighth aspect, because thedetermination component93 of themonitoring unit19, in response to receiving a plurality of detected information sets that includes a mixture of (a) a fifth group of one or more detected information sets indicating the unknownmobile object13 to be in ablind spot18 of the own mobile object (a vehicle15) and (b) a sixth group of one or more detected information sets indicating the unknownmobile object13 to not be in theblind spot18, determines the presence or absence of the unknownmobile object13 by prioritizing the use of the fifth group, which is more meaningful in securing the safe travel of the own mobile object (a vehicle15), an advantageous effect of securing safety of travel of the own mobile object (vehicle15) can be expected over the mobileobject monitoring system11 according to the fifth aspect.

The mobile object monitoring method according to a ninth aspect of the disclosure is intended to be used in a mobileobject monitoring system11 that includes (a) multipleterminal units17 that are each installed in a corresponding one of a plurality of mobile objects (vehicles15) and (b) asingle monitoring unit19 configured to collect information concerning an unknownmobile object13 around each of the plurality of mobile objects (vehicles15) and to monitor the unknownmobile object13.

The mobile object monitoring method includes: acquiring, by each of the multipleterminal units17, unknown mobile object information that includes information on presence or absence of an unknownmobile object13; including, by each of the multiple terminal units, location information of the unknown mobile object in the unknown mobile object information in response to the presence of the unknownmobile object13; generating, by each of the multiple terminal units, a detected information set concerning an unknownmobile object13, the detected information set including the unknown mobile object information that has been acquired, time information on a time of acquisition of the unknown mobile object information, and identification information concerning the unknownmobile object13; and transmitting, by each of the multiple terminal units, the detected information set that has been generated.

The mobile object monitoring method further includes: receiving the detected information set transmitted from each of the multipleterminal units17 and forming a collection of detected information sets by the monitoring unit; and determining the presence or absence of an unknownmobile object13 based on the received collection of detected information sets by themonitoring unit19.

The mobile object monitoring method further includes, when determining the presence or absence of the unknownmobile object13, establishing reliability of detected information sets regarding the received collection of detected information sets based on the number of detected information sets that indicate the detection of a specific unknownmobile object13 that is at the same location at the same time.

The mobile object monitoring method according to the ninth aspect is a method claim that corresponds to the configuration of the mobileobject monitoring system11 according to the second aspect.

Similar to the mobileobject monitoring system11 according to the second aspect, the mobile object monitoring method according to the ninth aspect monitors an unknownmobile object13 by collecting, via vehicle-to-vehicle communication or vehicle-to-roadside communication, sets of information regarding an unknownmobile object13 that are each obtained at a corresponding one of a plurality of detection sites and integrating the sets of information to significantly increase the reliability of information regarding an unknownmobile object13 in ablind spot18 related to a point of observation.

In a tenth aspect of the disclosure, the mobile object monitoring method is in accordance with the ninth aspect. Furthermore, the mobile object monitoring method further comprises including type information in the identification information that is included in the detected information set concerning an unknown mobile object, the type information indicating a type of the unknown mobile object.

In determining the presence or absence of the unknownmobile object13, the mobile object monitoring method may include establishing the reliability of detected information sets regarding the collection of detected information sets based on the type information of an unknownmobile object13 that is included in the identification information of a group of detected information sets that indicate the detection of a specific unknownmobile object13 that is at the same location at the same time. The group of detected information sets may make up a part of whole of the collection of detected information sets.

The mobile object monitoring method according to the tenth aspect is a method claim that corresponds to the configuration of the mobileobject monitoring system11 according to the fourth aspect.

Compared to the mobile object monitoring method according to the ninth aspect, the mobile object monitoring method according to the tenth aspect makes the presence of a vulnerable road user as an unknownmobile object13 more noticeable over the presence of a less vulnerable road user, and an advantageous effect of protecting vulnerable road users with priority can be expected.

Other Embodiments

The embodiments described above are examples for realizing the disclosure. Thus, these embodiments should not be used for limiting the technical scope of the disclosure. The disclosure can be implemented in various forms within a scope not departing from the gist or the major features of the disclosure.

For example, in the description of a mobileobject monitoring system11 according to an embodiment of the disclosure, thereliability setting part97 establishes the reliability of detected information sets regarding a plurality of detected information sets that have been received with the collecting-side communication component91 based on the number of detected information sets concerning an unknownmobile object13 that indicate the detection of a specific unknownmobile object13 that is at the same location at the same time. However, the algorithm for establishing the reliability of detected information sets is not limited to this example. In one or more embodiments, a different algorithm for setting the reliability of detected information sets may be used.

In some embodiments, thereliability setting part97 may, regarding a plurality of detected information sets received with the collecting-side communication component91, establish the reliability of detected information sets based on the type (e.g., a vehicle, motorcycle, bicycle, or pedestrian) of an unknownmobile object13 that has been detected in a number of detected information sets as a specific unknownmobile object13 that is at the same location at the same time. For example, when the specific unknownmobile object13 is a motorcycle, the reliability may be raised based on a point of view that there is a high risk of collision in the case of a motorcycle.

In some embodiments, thereliability setting part97 may, regarding a plurality of detected information sets received with the collecting-side communication component91, establish the reliability of detected information sets based on the traveling speed of an unknownmobile object13 that has been detected in a number of detected information sets as a specific unknownmobile object13 that is at the same location at the same time. For example, the reliability may be increased with higher traveling speed of the specific unknownmobile object13.

An embodiment of the disclosure may be realized by supplying a program (a collection of computer executable instructions) that realizes one or more functions of the embodiment to a system or apparatus via a network or a non-transitory storage medium and by having one or more processors of a computer of the system or apparatus read out and execute the computer executable instructions of the program. An embodiment of the disclosure may include a circuit (for example, application specific integrated circuit [ASIC]) that realizes one or more functions of the embodiment. Information including a program that realizes one or more functions of an embodiment may be stored in a non-transitory storage medium such as a memory, a hard disk, a memory card, or an optical disc.

Although left-hand traffic has been used in the example used in the description, the disclosure is also applicable to right-hand traffic.

Claims (14)

What is claimed is:

1. A mobile object monitoring system comprising:

one or more terminal units; and

a monitoring unit configured to collect information concerning an unknown mobile object around the one or more terminal units and to monitor the unknown mobile object, wherein

each of the one or more terminal units is installed in a corresponding one of one or more mobile objects,

the monitoring unit is installed in a first mobile object or a roadside unit,

each of the one or more terminal units includes a first processor configured to:

acquire unknown mobile object information, the unknown mobile object information including location information of the unknown mobile object;

generate a detected information set concerning an unknown mobile object, the detected information set including the acquired unknown mobile object information, time information on a time of the acquisition, and identification information concerning the unknown mobile object; and

transmit the generated detected information set,

the identification information included in the detected information set concerning the unknown mobile object includes type information indicating a type of the unknown mobile object,

the type of information of the detected information set indicates the type of the unknown mobile object as a pedestrian, a bicycle, a motorcycle, a standard-sized vehicle, or a large-sized vehicle, and

the monitoring unit includes a second processor configured to:

receive the detected information set transmitted from each of the one or more terminal units to form a collection of one or more detected information sets;

determine presence or absence of the unknown mobile object based on the collection of one or more detected information sets;

regarding the collection of one or more detected information sets, establish reliability based on a first number of detected information sets that indicate a detection of a specific unknown mobile object that is at the same location at the same time out of the collection of one or more detected information sets and on the type information of the specific unknown mobile object;

determine that the specific unknown mobile object is present in response to the first number exceeding a predetermined response number threshold; and

set the predetermined response number threshold according to the type information of the specific unknown mobile object, so that the second processor:

sets the predetermined response number threshold to be lower for the pedestrian than for the bicycle,

sets the predetermined response number threshold to be lower for the bicycle than for the motorcycle,

sets the predetermined response number threshold to be lower for the motorcycle than for the standard-sized vehicle, and

sets the predetermined response number threshold to be lower for the standard-sized vehicle than for the large-sized vehicle.

2. A mobile object monitoring system comprising:

a plurality of terminal units; and

a single monitoring unit configured to collect information concerning an unknown mobile object around each of the plurality of terminal units and to monitor the unknown mobile object, wherein

each of the plurality of terminal units is installed in a corresponding one of a plurality of mobile objects,

the monitoring unit is installed in a first mobile object or a roadside unit,

each of the plurality of terminal units includes a first processor configured to:

acquire unknown mobile object information that includes information on presence or absence of the unknown mobile object and, in response to presence of the unknown mobile object, further includes location information of the unknown mobile object;

generate a detected information set concerning an unknown mobile object, the detected information set including the acquired unknown mobile object information, time information on a time of the acquisition, and identification information concerning the unknown mobile object; and

transmit the generated detected information set,

the identification information included in the detected information set concerning the unknown mobile object includes type information indicating a type of the unknown mobile object,

the type information of the detected information set indicates the type of the unknown mobile object as a pedestrian, a bicycle, a motorcycle, a standard-sized vehicle, or a large-sized vehicle, and

the monitoring unit includes a second processor configured to:

receive the detected information set transmitted from each of the plurality of terminal units to form a collection of detected information sets; and

determine presence or absence of the unknown mobile object based on the collection of detected information sets;

regarding the collection of detected information sets, establish reliability based on a first number of detected information sets that indicate a detection of a specific unknown mobile object that is at the same location at the same time out of the collection of detected information sets and on the type information of the specific unknown mobile object;

determine that the specific unknown mobile object is present in response to the first number exceeding a predetermined response number threshold; and

set the predetermined response number threshold according to the type information of the specific unknown mobile object, such that the second processor:

sets the predetermined response number threshold to be lower for the pedestrian than for the bicycle,

sets the predetermined response number threshold to be lower for the bicycle than for the motorcycle,

sets the predetermined response number threshold to be lower for the motorcycle than for the standard-sized vehicle, and

sets the predetermined response number threshold to be lower for the standard-sized vehicle than for the large-sized vehicle.

3. The mobile object monitoring system according toclaim 2, wherein

the second processor of the monitoring unit installed in the first mobile object is configured to receive the detected information set transmitted from each of the plurality of terminal units to form the collection of detected information sets by communicating with the plurality of terminal units that are each installed in the corresponding one of the plurality of mobile objects.

4. The mobile object monitoring system according toclaim 1, wherein

the second processor of the monitoring unit is configured to transmit a request to acquire the unknown mobile object information at a specified time, and

the first processor of each of the one or more terminal units is configured to acquire the unknown mobile object information at the specified time.

5. The mobile object monitoring system according toclaim 4, wherein

regarding the collection of one or more detected information sets, the second processor of the monitoring unit is configured to establish the reliability based further on a sum of the first number and a second number, and

the second number is the number of one or more detected information sets that indicate absence of the specific unknown mobile object.

6. The mobile object monitoring system according toclaim 4, wherein

the first processor of each of the one or more terminal units includes an external sensor that is configured to detect an object around a corresponding one of the one or more terminal units to obtain surrounding environment information that includes information on presence or absence and information on a location concerning the object,

the unknown mobile object information further includes information on detection accuracy of the surrounding environment information related to the external sensor,

the second processor of the monitoring unit is, in response to the collection of one or more detected information sets including a third group of one or more detected information sets and a fourth group of one or more detected information sets, configured to determine presence or absence of the unknown mobile object by prioritizing a use of the third group,

the third group of one or more detected information sets is based on the unknown mobile object information that is detected by the external sensor that presents a first level of the detection accuracy,

the fourth group of one or more detected information sets is based on the unknown mobile object information that is detected by the external sensor that presents a second level of the detection accuracy, and

the first level of the detection accuracy is higher than the second level of the detection accuracy.

7. The mobile object monitoring system according toclaim 3, wherein

the second processor of the monitoring unit installed in the first mobile object is configured to:

determine a blind spot of the first mobile object;

determine whether or not a current location of the unknown mobile object is in the blind spot of the first mobile object; and

determine, in response to the collection of detected information sets including a fifth group of one or more detected information sets and a sixth group of one or more detected information sets, presence or absence of the unknown mobile object by prioritizing a use of the fifth group,

the fifth group of one or more detected information sets is based on the unknown mobile object information indicating the unknown mobile object to be in the blind spot, and

the sixth group of one or more detected information sets is based on the unknown mobile object information indicating the unknown mobile object to not be in the blind spot.

8. A mobile object monitoring method used in a mobile object monitoring system including a plurality of terminal units that are each installed in a corresponding one of a plurality of mobile objects and a single monitoring unit that is installed in a first mobile object or a roadside unit and is configured to collect information concerning an unknown mobile object around each of the plurality of mobile objects and to monitor the unknown mobile object, the mobile object monitoring method comprising:

acquiring, by each of the plurality of terminal units, unknown mobile object information that includes information on presence or absence of the unknown mobile object and, in response to presence of the unknown mobile object, location information of the unknown mobile object;

generating, by each of the plurality of terminal units, a detected information set concerning an unknown mobile object, the detected information set including the acquired unknown mobile object information, time information on a time of the acquisition, and identification information concerning the unknown mobile object, wherein the identification information includes type information indicating a type of the unknown mobile object and the type of information indicates the type of the unknown mobile object as a pedestrian, a bicycle, a motorcycle, a standard-sized vehicle, or a large-sized vehicle;

transmitting, by each of the plurality of terminal units, the generated detected information set concerning an unknown mobile object;

receiving the detected information set transmitted from each of the plurality of terminal units and forming a collection of detected information sets by the monitoring unit;

determining, by the monitoring unit, presence or absence of the unknown mobile object based on the collection of detected information sets;

establishing, by the monitoring unit, reliability of the collection of detected information sets based on a first number of detected information sets that indicate a detection of a specific unknown mobile object that is at the same location at the same time out of the collection of detected information sets and on the type information of the specific unknown mobile object;

determining, by the monitoring unit, that the specific unknown mobile object is present in response to the first number exceeding a predetermined response number threshold; and

setting, by the monitoring unit, the predetermined response number threshold according to the type information of the specific unknown mobile object so that:

the monitoring unit sets the predetermined response number threshold to be lower for the pedestrian than for the bicycle,

the monitoring unit sets the predetermined response number threshold to be lower for the bicycle than for the motorcycle,

the monitoring unit sets the predetermined response number threshold to be lower for the motorcycle than for the standard-sized vehicle, and

the monitoring unit sets the predetermined response number threshold to be lower for the standard-sized vehicle than for the large-sized vehicle.

9. The mobile object monitoring system according toclaim 2, wherein

the second processor of the monitoring unit is configured to transmit a request to acquire the unknown mobile object information at a specified time, and

the first processor of each of the plurality of terminal units is configured to acquire the unknown mobile object information at the specified time.

10. The mobile object monitoring system according toclaim 9, wherein

regarding the collection of detected information sets, the second processor of the monitoring unit is configured to establish the reliability based further on a sum of the first number and a second number, and

the second number is the number of one or more detected information sets that indicate absence of the specific unknown mobile object.

11. The mobile object monitoring system according toclaim 9, wherein

the first processor of each of the plurality of terminal units includes an external sensor that is configured to detect an object around a corresponding one of the plurality of mobile objects to obtain surrounding environment information that includes information on presence or absence and information on a location concerning the object,

the unknown mobile object information further includes information on detection accuracy of the surrounding environment information related to the external sensor,

the second processor of the monitoring unit is, in response to the collection of detected information sets including a third group of one or more detected information sets and a fourth group of one or more detected information sets, configured to determine presence or absence of the unknown mobile object by prioritizing a use of the third group,

the third group of one or more detected information sets is based on the unknown mobile object information that is detected by the external sensor that presents a first level of the detection accuracy,

the fourth group of one or more detected information sets is based on the unknown mobile object information that is detected by the external sensor that presents a second level of the detection accuracy, and

the first level of the detection accuracy is higher than the second level of the detection accuracy.

12. The mobile object monitoring system according toclaim 3, wherein

the second processor of the monitoring unit is configured to transmit a request to acquire the unknown mobile object information at a specified time, and

the first processor of each of the plurality of terminal units is configured to acquire the unknown mobile object information at the specified time.

13. The mobile object monitoring system according toclaim 12, wherein

regarding the collection of detected information sets, the second processor of the monitoring unit is configured to establish the reliability based further on a sum of the first number and a second number, and

the second number is the number of one or more detected information sets that indicate absence of the specific unknown mobile object.

14. The mobile object monitoring system according toclaim 12, wherein

the first processor of each of the plurality of terminal units includes an external sensor that is configured to detect an object around a corresponding one of the plurality of mobile objects to obtain surrounding environment information that includes information on presence or absence and information on a location concerning the object,

the unknown mobile object information further includes information on detection accuracy of the surrounding environment information related to the external sensor,

the second processor of the monitoring unit is, in response to the collection of detected information sets including a third group of one or more detected information sets and a fourth group of one or more detected information sets, configured to determine presence or absence of the unknown mobile object by prioritizing a use of the third group,

the third group of one or more detected information sets is based on the unknown mobile object information that is detected by the external sensor that presents a first level of the detection accuracy,

the fourth group of one or more detected information sets is based on the unknown mobile object information that is detected by the external sensor that presents a second level of the detection accuracy, and

the first level of the detection accuracy is higher than the second level of the detection accuracy.

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